Add files using upload-large-folder tool

pick_classic/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_classic --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickHardBench/FrankaPickHardBench_20260206_json_benchmark --task-name pick_classic --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization 

pick_filament/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_filament --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickHardBench/FrankaPickHardBench_20260206_json_benchmark --task-name pick_filament --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization --use-filament 

pick_msproc/pick_msproc/benchmark_shards/shard_05/manifest.json

@@ -0,0 +1,90 @@
+{
+  "shard_idx": 5,
+  "num_episodes": 125,
+  "num_houses": 83,
+  "house_indices": [
+    13,
+    29,
+    60,
+    85,
+    97,
+    109,
+    125,
+    144,
+    179,
+    221,
+    241,
+    270,
+    300,
+    323,
+    348,
+    373,
+    386,
+    412,
+    439,
+    469,
+    490,
+    534,
+    548,
+    571,
+    583,
+    620,
+    638,
+    659,
+    694,
+    733,
+    761,
+    792,
+    827,
+    839,
+    860,
+    882,
+    895,
+    912,
+    937,
+    961,
+    973,
+    998,
+    43,
+    55,
+    82,
+    127,
+    152,
+    172,
+    191,
+    210,
+    238,
+    254,
+    274,
+    303,
+    325,
+    346,
+    360,
+    397,
+    416,
+    438,
+    468,
+    489,
+    509,
+    524,
+    540,
+    567,
+    588,
+    609,
+    631,
+    663,
+    682,
+    699,
+    720,
+    742,
+    764,
+    783,
+    808,
+    842,
+    881,
+    913,
+    936,
+    951,
+    983
+  ]
+}

pick_msproc/pick_msproc/shards/shard_07/eval/episode_results.jsonl

@@ -0,0 +1,125 @@
+{"house_id": "house_1", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 125, "task_description": "Pick up the slim black remote control", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_1/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_102", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 62, "task_description": "Pick up the spoon", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_102/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_102", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 53, "task_description": "Pick up the shiny silver metallic kettle with handle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_102/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_112", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 100, "task_description": "Pick up the light wooden cup with rim", "object_name": "cup_4697b73732349085e30935e0f35566dc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_112/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_112", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soap bottle with golden pump", "object_name": "soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_112/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_128", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the light brown bowl", "object_name": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_128/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_128", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 110, "task_description": "Pick up the rectangular green tissue box with tissues", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_128/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_138", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 63, "task_description": "Pick up the spray bottle", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_138/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_15", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 265, "task_description": "Pick up the blue cooking pot with handles", "object_name": "pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_15/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_155", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 74, "task_description": "Pick up the green ladle", "object_name": "ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_155/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_155", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 31, "task_description": "Pick up the dark green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_155/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_159", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular green tissue box with tissues", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_159/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_182", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny metal ladle", "object_name": "ladle_9c306e3043202395854ae4a3cba13e79_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_182/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_192", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 63, "task_description": "Pick up the butterknife", "object_name": "butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_192/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_192", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spoon", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_192/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_196", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 93, "task_description": "Pick up the light gray wooden bowl", "object_name": "bowl_6befd62f08fd322391939c2b44d3f839_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_196/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_21", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the blue rectangular pot", "object_name": "pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_21/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_21", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 63, "task_description": "Pick up the rectangular green tissue box with tissues", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_21/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_215", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slim black remote with buttons", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_215/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_227", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 48, "task_description": "Pick up the blue cooking pot with handles", "object_name": "pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_227/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_227", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 68, "task_description": "Pick up the dark teal box", "object_name": "box_f6e09f3868d4ffa7924a0719511c099d_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_227/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_243", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glass salt shaker", "object_name": "saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_243/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_248", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 69, "task_description": "Pick up the slim black remote with buttons", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_248/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_248", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 60, "task_description": "Pick up the shiny silver kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_248/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_258", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the glass salt shaker", "object_name": "saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_258/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_278", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 230, "task_description": "Pick up the soap dispenser", "object_name": "soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_278/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_278", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 79, "task_description": "Pick up the polished metal fork with curve", "object_name": "fork_a17d780ca6a79038b069eb7768c962c4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_278/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_286", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 50, "task_description": "Pick up the dark teal box", "object_name": "box_f6e09f3868d4ffa7924a0719511c099d_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_286/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_306", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soapdispenser", "object_name": "soapdispenser_b8726504edf0a781770524a38cc81949_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_306/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_306", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow kitchen knife blade", "object_name": "knife_79fd11da07e86802ec5235db6beee9a8_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_306/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_314", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the utensil", "object_name": "pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_314/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_32", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soap bottle", "object_name": "soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_32/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_32", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_32/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_329", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 156, "task_description": "Pick up the light brown bowl", "object_name": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_329/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_330", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 79, "task_description": "Pick up the green tissue box", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_330/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_330", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slim black remote control", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_330/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_351", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy red tomato", "object_name": "tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_351/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_354", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 54, "task_description": "Pick up the dark kitchen spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_354/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_354", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_354/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_369", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the polished stainless steel fork with curve", "object_name": "fork_a17d780ca6a79038b069eb7768c962c4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_369/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_375", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 67, "task_description": "Pick up the peppershaker", "object_name": "peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_375/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_375", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green ladle", "object_name": "ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_375/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_391", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 60, "task_description": "Pick up the green tissue box rectangular", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_391/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_391", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soap bottle", "object_name": "soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_391/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_404", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slim black remote control", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_404/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_417", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 54, "task_description": "Pick up the white ceramic mug", "object_name": "mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_417/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_417", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the translucent glass bowl", "object_name": "bowl_46a21212675e4d90993a86b1232e6f40_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_417/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_424", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark teal box", "object_name": "box_f6e09f3868d4ffa7924a0719511c099d_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_424/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_441", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 41, "task_description": "Pick up the matte black ceramic mug", "object_name": "mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_441/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_445", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow knife", "object_name": "knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_445/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_445", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 124, "task_description": "Pick up the slim black remote with buttons", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_445/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_45", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 71, "task_description": "Pick up the orange conical spray bottle with nozzle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_45/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_472", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden pump soap bottle", "object_name": "soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_472/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_472", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ripe red tomato with stem", "object_name": "tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_472/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_478", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange conical spray bottle with nozzle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_478/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_494", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 47, "task_description": "Pick up the blue cooking pot with handles", "object_name": "pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_494/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_508", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 119, "task_description": "Pick up the shiny silver kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_508/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_508", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the kitchen spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_3_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_508/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_511", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light brown bowl", "object_name": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_511/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_527", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_527/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_537", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the container", "object_name": "peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_537/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_537", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 39, "task_description": "Pick up the metal spoon", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_537/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_550", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 53, "task_description": "Pick up the glossy beige ceramic mug with handle", "object_name": "mug_38903e9f02926f380b587d1b9de9c00b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_550/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_550", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 45, "task_description": "Pick up the open brown cardboard box", "object_name": "box_54d3d4baf11286a2a524395e4a26c893_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_550/trajectories_batch_1_of_1.h5", "metadata": {}}
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+{"house_id": "house_572", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the square glass pepper shaker", "object_name": "peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_572/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_575", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 110, "task_description": "Pick up the dark green glass wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_575/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_575", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished metal fork with curve", "object_name": "fork_a17d780ca6a79038b069eb7768c962c4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_575/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_589", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spoon", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_589/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_589", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 110, "task_description": "Pick up the cutlery", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_3_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_589/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_595", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 87, "task_description": "Pick up the slim black remote with buttons", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_595/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_614", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 358, "task_description": "Pick up the means", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_614/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_626", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 54, "task_description": "Pick up the matte blue bowl", "object_name": "bowl_1225dcc85067784fe806e13437861b11_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_626/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_626", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 73, "task_description": "Pick up the table knife", "object_name": "butterknife_f211d9b5a6beb604cda0c1df985a0093_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_626/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_640", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soap dispenser", "object_name": "soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_640/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_640", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the translucent plastic cup", "object_name": "cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_640/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_642", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 63, "task_description": "Pick up the transparent pepper shaker", "object_name": "peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_642/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_665", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange conical spray bottle with nozzle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_665/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_669", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny metal ladle", "object_name": "ladle_9c306e3043202395854ae4a3cba13e79_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_669/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_669", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular green tissue box with tissues", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_669/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_68", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 53, "task_description": "Pick up the polished metal fork with curve", "object_name": "fork_a17d780ca6a79038b069eb7768c962c4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_68/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_688", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished metal fork with curve", "object_name": "fork_a17d780ca6a79038b069eb7768c962c4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_688/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_702", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metallic cooking pot", "object_name": "pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_702/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_704", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_704/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_704", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light brown cardboard box with flaps", "object_name": "box_7c54a26cba93093ca8aceb6fbac82646_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_704/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_71", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the shiny silver kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_71/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_71", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium ripe red tomato with stem", "object_name": "tomato_dfd117ba449fe073d874c64a63d0a66e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_71/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_724", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 59, "task_description": "Pick up the light gray wooden bowl with rim", "object_name": "bowl_6befd62f08fd322391939c2b44d3f839_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_724/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_738", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ripe red tomato with stem", "object_name": "tomato_a3d246e7c1915021df1873ae97fb052e_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_738/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_738", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cutlery", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_738/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_749", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 66, "task_description": "Pick up the cooking utensil", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_749/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_767", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 344, "task_description": "Pick up the white ceramic mug with handle", "object_name": "mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_767/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_772", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 109, "task_description": "Pick up the golden pump soap bottle", "object_name": "soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_772/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_772", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the spoon", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_772/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_788", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark-handled kitchen spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_788/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_804", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green tissue box rectangular", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_804/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_804", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the light gray wooden bowl", "object_name": "bowl_6befd62f08fd322391939c2b44d3f839_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_804/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_820", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ladle", "object_name": "ladle_9c306e3043202395854ae4a3cba13e79_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_820/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_831", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_831/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_831", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 46, "task_description": "Pick up the kitchen spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_831/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_844", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 79, "task_description": "Pick up the glass pepper shaker", "object_name": "peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_844/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_844", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the plastic cup", "object_name": "cup_00f92997b25a123a9fc9dcf350627c1e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_844/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_849", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 93, "task_description": "Pick up the blue metallic cooking pot with handle", "object_name": "pot_811f072cf19900b4e135f7de5cb90e81_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_849/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_867", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 47, "task_description": "Pick up the polished metal fork with curve", "object_name": "fork_a17d780ca6a79038b069eb7768c962c4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_867/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_867", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 38, "task_description": "Pick up the dark green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_867/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_87", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_87/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_87", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ripe smooth medium red apple", "object_name": "apple_c4656249220dffb6f61d18517b39de70_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_87/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_885", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 75, "task_description": "Pick up the kitchen spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_885/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_885", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange bottle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_885/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_890", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 114, "task_description": "Pick up the smooth dark teal box", "object_name": "box_4ab2cc42c0121e89202b9f093bf6f267_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_890/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_898", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver butter knife", "object_name": "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_898/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_898", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red apple", "object_name": "apple_c4656249220dffb6f61d18517b39de70_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_898/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_90", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slim black remote control", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_90/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_916", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_916/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_916", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 47, "task_description": "Pick up the orange spray bottle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_916/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_923", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 52, "task_description": "Pick up the dark teal box", "object_name": "box_f6e09f3868d4ffa7924a0719511c099d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_923/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_941", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the silver polished butter knife with handle", "object_name": "butterknife_b2b8a251c5e331c4017267a6e05c76d5_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_941/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_941", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the butterknife", "object_name": "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_941/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_942", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue spray bottle with nozzle", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_942/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_955", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 260, "task_description": "Pick up the matte dark gray bowl", "object_name": "bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_955/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_963", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 70, "task_description": "Pick up the slim black remote with buttons", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_3_0_10", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_963/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_963", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 36, "task_description": "Pick up the smooth shallow light brown bowl", "object_name": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_963/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_982", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 269, "task_description": "Pick up the cookware", "object_name": "pot_811f072cf19900b4e135f7de5cb90e81_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_982/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_982", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny silver metallic kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_982/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_994", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 72, "task_description": "Pick up the carton", "object_name": "box_7c54a26cba93093ca8aceb6fbac82646_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_994/trajectories_batch_1_of_1.h5", "metadata": {}}

pick_msproc/pick_msproc/shards/shard_07/eval/eval_meta.json

@@ -0,0 +1,9 @@
+{
+  "step": null,
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07",
+  "policy_name": "latest",
+  "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv"
+}

pick_msproc/pick_msproc/shards/shard_07/eval/results.csv

@@ -0,0 +1,24 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Bottle,3,9,33.33,12.16,65.25,3,33.33,12.16,65.25,238.012696,97.08118
+latest,Bowl,9,11,81.82,51.59,94.51,9,81.82,51.59,94.51,216.024102,122.7384
+latest,Box,6,8,75.0,39.99,92.51,6,75.0,39.99,92.51,175.470232,94.524063
+latest,Cup,1,3,33.33,6.76,80.59,1,33.33,6.76,80.59,272.133281,131.491164
+latest,Fork,4,6,66.67,29.04,90.1,4,66.67,29.04,90.1,116.135712,80.971775
+latest,Fruit,0,6,0.0,0.36,40.96,0,0.0,0.36,40.96,244.492525,81.747558
+latest,Kettle,4,5,80.0,35.88,95.67,4,80.0,35.88,95.67,146.624678,78.516675
+latest,Knife,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,158.645405,57.92845
+latest,Ladle,1,5,20.0,4.33,64.12,1,20.0,4.33,64.12,188.669908,92.511738
+latest,Mug,4,4,100.0,47.82,99.49,4,100.0,47.82,99.49,111.908936,24.392105
+latest,Pot,6,8,75.0,39.99,92.51,6,75.0,39.99,92.51,188.161326,110.116833
+latest,Remote Control,6,10,60.0,30.79,83.25,6,60.0,30.79,83.25,140.677675,94.388799
+latest,S/p Shaker,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,202.86921,99.647116
+latest,Soap Dispenser,2,8,25.0,7.49,60.01,2,25.0,7.49,60.01,232.100651,104.493307
+latest,Spatula,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,105.791595,55.905217
+latest,Spoon,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,167.190957,103.781151
+latest,Spray Bottle,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,170.451131,133.594648
+latest,Tissue Paper,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,223.998172,143.483504
+latest,OVERALL,68,125,54.4,45.65,62.88,68,54.4,45.65,62.88,183.983336,109.641441

pick_msproc/pick_msproc/shards/shard_07/eval/summary.json

@@ -0,0 +1,172 @@
+{
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07",
+  "benchmark_source": "arg",
+  "benchmark_mode": "official",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445",
+  "policy_name": "latest",
+  "policy_device": "cuda:0",
+  "camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "preview_camera_names": [
+    "exo_camera_1",
+    "wrist_camera"
+  ],
+  "save_video_sensors": [
+    "__none__"
+  ],
+  "obs_camera_name": "droid_shoulder_light_randomization",
+  "obs_wrist_camera_name": "wrist_camera_zed_mini",
+  "action_chunk_size": 8,
+  "end_on_success": true,
+  "num_workers": 1,
+  "task_horizon_steps": 450,
+  "max_episodes": null,
+  "episode_idx": null,
+  "resolved_episode_idx": null,
+  "random_episode": false,
+  "random_seed": 42,
+  "metrics_mean": {
+    "success_rate": 0.544,
+    "success_count": 68.0,
+    "total_episodes": 125.0,
+    "avg_episode_length": 252.608,
+    "oracle_done_rate": 0.544,
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pick_msproc/pick_msproc/shards/shard_07/submission/episode_results.jsonl

@@ -0,0 +1,125 @@
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+{"house_id": "house_306", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow kitchen knife blade", "object_name": "knife_79fd11da07e86802ec5235db6beee9a8_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_306/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_314", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the utensil", "object_name": "pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_314/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_32", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soap bottle", "object_name": "soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_32/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_32", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_32/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_329", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 156, "task_description": "Pick up the light brown bowl", "object_name": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_329/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_330", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 79, "task_description": "Pick up the green tissue box", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_330/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_330", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slim black remote control", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_330/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_351", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the glossy red tomato", "object_name": "tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_351/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_354", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 54, "task_description": "Pick up the dark kitchen spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_354/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_354", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_354/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_369", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the polished stainless steel fork with curve", "object_name": "fork_a17d780ca6a79038b069eb7768c962c4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_369/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_375", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 67, "task_description": "Pick up the peppershaker", "object_name": "peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_375/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_375", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green ladle", "object_name": "ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_375/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_391", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 60, "task_description": "Pick up the green tissue box rectangular", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_391/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_391", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soap bottle", "object_name": "soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_391/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_404", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slim black remote control", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_404/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_417", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 54, "task_description": "Pick up the white ceramic mug", "object_name": "mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_417/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_417", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the translucent glass bowl", "object_name": "bowl_46a21212675e4d90993a86b1232e6f40_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_417/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_424", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark teal box", "object_name": "box_f6e09f3868d4ffa7924a0719511c099d_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_424/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_441", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 41, "task_description": "Pick up the matte black ceramic mug", "object_name": "mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_441/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_445", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the yellow knife", "object_name": "knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_445/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_445", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 124, "task_description": "Pick up the slim black remote with buttons", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_445/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_45", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 71, "task_description": "Pick up the orange conical spray bottle with nozzle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_45/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_472", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden pump soap bottle", "object_name": "soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_472/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_472", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ripe red tomato with stem", "object_name": "tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_472/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_478", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange conical spray bottle with nozzle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_478/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_494", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 47, "task_description": "Pick up the blue cooking pot with handles", "object_name": "pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_494/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_508", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 119, "task_description": "Pick up the shiny silver kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_508/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_508", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the kitchen spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_3_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_508/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_511", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light brown bowl", "object_name": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_511/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_527", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_527/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_537", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the container", "object_name": "peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_537/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_537", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 39, "task_description": "Pick up the metal spoon", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_537/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_550", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 53, "task_description": "Pick up the glossy beige ceramic mug with handle", "object_name": "mug_38903e9f02926f380b587d1b9de9c00b_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_550/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_550", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 45, "task_description": "Pick up the open brown cardboard box", "object_name": "box_54d3d4baf11286a2a524395e4a26c893_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_550/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_553", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 44, "task_description": "Pick up the gray wooden bowl", "object_name": "bowl_6befd62f08fd322391939c2b44d3f839_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_553/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_572", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the square glass pepper shaker", "object_name": "peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_572/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_575", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 110, "task_description": "Pick up the dark green glass wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_575/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_575", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished metal fork with curve", "object_name": "fork_a17d780ca6a79038b069eb7768c962c4_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_575/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_589", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spoon", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_589/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_589", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 110, "task_description": "Pick up the cutlery", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_3_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_589/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_595", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 87, "task_description": "Pick up the slim black remote with buttons", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_595/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_614", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 358, "task_description": "Pick up the means", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_614/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_626", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 54, "task_description": "Pick up the matte blue bowl", "object_name": "bowl_1225dcc85067784fe806e13437861b11_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_626/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_626", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 73, "task_description": "Pick up the table knife", "object_name": "butterknife_f211d9b5a6beb604cda0c1df985a0093_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_626/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_640", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the soap dispenser", "object_name": "soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_640/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_640", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the translucent plastic cup", "object_name": "cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_640/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_642", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 63, "task_description": "Pick up the transparent pepper shaker", "object_name": "peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_642/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_665", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange conical spray bottle with nozzle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_665/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_669", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny metal ladle", "object_name": "ladle_9c306e3043202395854ae4a3cba13e79_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_669/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_669", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular green tissue box with tissues", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_669/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_68", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 53, "task_description": "Pick up the polished metal fork with curve", "object_name": "fork_a17d780ca6a79038b069eb7768c962c4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_68/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_688", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the polished metal fork with curve", "object_name": "fork_a17d780ca6a79038b069eb7768c962c4_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_688/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_702", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark metallic cooking pot", "object_name": "pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_702/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_704", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_704/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_704", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the light brown cardboard box with flaps", "object_name": "box_7c54a26cba93093ca8aceb6fbac82646_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_704/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_71", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the shiny silver kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_71/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_71", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the medium ripe red tomato with stem", "object_name": "tomato_dfd117ba449fe073d874c64a63d0a66e_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_71/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_724", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 59, "task_description": "Pick up the light gray wooden bowl with rim", "object_name": "bowl_6befd62f08fd322391939c2b44d3f839_1_0_3", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_724/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_738", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ripe red tomato with stem", "object_name": "tomato_a3d246e7c1915021df1873ae97fb052e_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_738/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_738", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cutlery", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_738/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_749", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 66, "task_description": "Pick up the cooking utensil", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_749/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_767", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 344, "task_description": "Pick up the white ceramic mug with handle", "object_name": "mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_767/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_772", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 109, "task_description": "Pick up the golden pump soap bottle", "object_name": "soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_772/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_772", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the spoon", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_772/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_788", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark-handled kitchen spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_788/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_804", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green tissue box rectangular", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_804/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_804", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the light gray wooden bowl", "object_name": "bowl_6befd62f08fd322391939c2b44d3f839_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_804/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_820", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ladle", "object_name": "ladle_9c306e3043202395854ae4a3cba13e79_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_820/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_831", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_831/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_831", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 46, "task_description": "Pick up the kitchen spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_2_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_831/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_844", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 79, "task_description": "Pick up the glass pepper shaker", "object_name": "peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_844/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_844", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the plastic cup", "object_name": "cup_00f92997b25a123a9fc9dcf350627c1e_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_844/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_849", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 93, "task_description": "Pick up the blue metallic cooking pot with handle", "object_name": "pot_811f072cf19900b4e135f7de5cb90e81_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_849/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_867", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 47, "task_description": "Pick up the polished metal fork with curve", "object_name": "fork_a17d780ca6a79038b069eb7768c962c4_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_867/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_867", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 38, "task_description": "Pick up the dark green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_867/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_87", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_87/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_87", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the ripe smooth medium red apple", "object_name": "apple_c4656249220dffb6f61d18517b39de70_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_87/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_885", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 75, "task_description": "Pick up the kitchen spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_885/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_885", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the orange bottle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_885/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_890", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 114, "task_description": "Pick up the smooth dark teal box", "object_name": "box_4ab2cc42c0121e89202b9f093bf6f267_1_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_890/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_898", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver butter knife", "object_name": "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_898/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_898", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red apple", "object_name": "apple_c4656249220dffb6f61d18517b39de70_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_898/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_90", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slim black remote control", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_90/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_916", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_916/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_916", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 47, "task_description": "Pick up the orange spray bottle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_916/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_923", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 52, "task_description": "Pick up the dark teal box", "object_name": "box_f6e09f3868d4ffa7924a0719511c099d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_923/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_941", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the silver polished butter knife with handle", "object_name": "butterknife_b2b8a251c5e331c4017267a6e05c76d5_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_941/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_941", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the butterknife", "object_name": "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_941/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_942", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue spray bottle with nozzle", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_942/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_955", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 260, "task_description": "Pick up the matte dark gray bowl", "object_name": "bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_955/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_963", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 70, "task_description": "Pick up the slim black remote with buttons", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_3_0_10", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_963/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_963", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 36, "task_description": "Pick up the smooth shallow light brown bowl", "object_name": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_963/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_982", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 269, "task_description": "Pick up the cookware", "object_name": "pot_811f072cf19900b4e135f7de5cb90e81_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_982/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_982", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny silver metallic kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_982/trajectories_batch_1_of_1.h5", "metadata": {}}
+{"house_id": "house_994", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 72, "task_description": "Pick up the carton", "object_name": "box_7c54a26cba93093ca8aceb6fbac82646_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_994/trajectories_batch_1_of_1.h5", "metadata": {}}

pick_msproc/pick_msproc/shards/shard_07/submission/eval_meta.json

@@ -0,0 +1,9 @@
+{
+  "step": null,
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07",
+  "policy_name": "latest",
+  "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv"
+}

pick_msproc/pick_msproc/shards/shard_07/submission/results.csv

@@ -0,0 +1,24 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Bottle,3,9,33.33,12.16,65.25,3,33.33,12.16,65.25,238.012696,97.08118
+latest,Bowl,9,11,81.82,51.59,94.51,9,81.82,51.59,94.51,216.024102,122.7384
+latest,Box,6,8,75.0,39.99,92.51,6,75.0,39.99,92.51,175.470232,94.524063
+latest,Cup,1,3,33.33,6.76,80.59,1,33.33,6.76,80.59,272.133281,131.491164
+latest,Fork,4,6,66.67,29.04,90.1,4,66.67,29.04,90.1,116.135712,80.971775
+latest,Fruit,0,6,0.0,0.36,40.96,0,0.0,0.36,40.96,244.492525,81.747558
+latest,Kettle,4,5,80.0,35.88,95.67,4,80.0,35.88,95.67,146.624678,78.516675
+latest,Knife,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,158.645405,57.92845
+latest,Ladle,1,5,20.0,4.33,64.12,1,20.0,4.33,64.12,188.669908,92.511738
+latest,Mug,4,4,100.0,47.82,99.49,4,100.0,47.82,99.49,111.908936,24.392105
+latest,Pot,6,8,75.0,39.99,92.51,6,75.0,39.99,92.51,188.161326,110.116833
+latest,Remote Control,6,10,60.0,30.79,83.25,6,60.0,30.79,83.25,140.677675,94.388799
+latest,S/p Shaker,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,202.86921,99.647116
+latest,Soap Dispenser,2,8,25.0,7.49,60.01,2,25.0,7.49,60.01,232.100651,104.493307
+latest,Spatula,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,105.791595,55.905217
+latest,Spoon,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,167.190957,103.781151
+latest,Spray Bottle,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,170.451131,133.594648
+latest,Tissue Paper,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,223.998172,143.483504
+latest,OVERALL,68,125,54.4,45.65,62.88,68,54.4,45.65,62.88,183.983336,109.641441

pick_msproc/pick_msproc/shards/shard_07/submission/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan 

pick_msproc/pick_msproc/shards/shard_07/submission/shard_07_results.csv

@@ -0,0 +1,24 @@
+# policy_name: latest
+# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Bottle,3,9,33.33,12.16,65.25,3,33.33,12.16,65.25,238.012696,97.08118
+latest,Bowl,9,11,81.82,51.59,94.51,9,81.82,51.59,94.51,216.024102,122.7384
+latest,Box,6,8,75.0,39.99,92.51,6,75.0,39.99,92.51,175.470232,94.524063
+latest,Cup,1,3,33.33,6.76,80.59,1,33.33,6.76,80.59,272.133281,131.491164
+latest,Fork,4,6,66.67,29.04,90.1,4,66.67,29.04,90.1,116.135712,80.971775
+latest,Fruit,0,6,0.0,0.36,40.96,0,0.0,0.36,40.96,244.492525,81.747558
+latest,Kettle,4,5,80.0,35.88,95.67,4,80.0,35.88,95.67,146.624678,78.516675
+latest,Knife,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,158.645405,57.92845
+latest,Ladle,1,5,20.0,4.33,64.12,1,20.0,4.33,64.12,188.669908,92.511738
+latest,Mug,4,4,100.0,47.82,99.49,4,100.0,47.82,99.49,111.908936,24.392105
+latest,Pot,6,8,75.0,39.99,92.51,6,75.0,39.99,92.51,188.161326,110.116833
+latest,Remote Control,6,10,60.0,30.79,83.25,6,60.0,30.79,83.25,140.677675,94.388799
+latest,S/p Shaker,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,202.86921,99.647116
+latest,Soap Dispenser,2,8,25.0,7.49,60.01,2,25.0,7.49,60.01,232.100651,104.493307
+latest,Spatula,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,105.791595,55.905217
+latest,Spoon,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,167.190957,103.781151
+latest,Spray Bottle,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,170.451131,133.594648
+latest,Tissue Paper,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,223.998172,143.483504
+latest,OVERALL,68,125,54.4,45.65,62.88,68,54.4,45.65,62.88,183.983336,109.641441

pick_msproc/pick_msproc/shards/shard_07/submission/submission_manifest.json

@@ -0,0 +1,130 @@
+{
+  "policy_name": "latest",
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07",
+  "results_csv": "results.csv",
+  "summary_json": "summary.json",
+  "episode_results_jsonl": "episode_results.jsonl",
+  "eval_meta_json": "eval_meta.json",
+  "eval_log": "eval.log",
+  "metrics_mean": {
+    "success_rate": 0.544,
+    "success_count": 68.0,
+    "total_episodes": 125.0,
+    "avg_episode_length": 252.608,
+    "oracle_done_rate": 0.544,
+    "success_rate_pct": 54.4,
+    "oracle_rate_pct": 54.4
+  },
+  "stats": {
+    "total_episodes": 125,
+    "success_count": 68,
+    "failure_count": 57,
+    "success_rate": 0.544,
+    "avg_episode_length": 252.608,
+    "min_episode_length": 31,
+    "max_episode_length": 449,
+    "num_houses": 84,
+    "house_success_rates": {
+      "house_1": 1.0,
+      "house_102": 1.0,
+      "house_112": 0.5,
+      "house_128": 1.0,
+      "house_138": 1.0,
+      "house_15": 1.0,
+      "house_155": 1.0,
+      "house_159": 0.0,
+      "house_182": 0.0,
+      "house_192": 0.5,
+      "house_196": 1.0,
+      "house_21": 1.0,
+      "house_215": 0.0,
+      "house_227": 1.0,
+      "house_243": 0.0,
+      "house_248": 1.0,
+      "house_258": 1.0,
+      "house_278": 1.0,
+      "house_286": 1.0,
+      "house_306": 0.0,
+      "house_314": 0.0,
+      "house_32": 0.0,
+      "house_329": 1.0,
+      "house_330": 0.5,
+      "house_351": 0.0,
+      "house_354": 0.5,
+      "house_369": 1.0,
+      "house_375": 0.5,
+      "house_391": 0.5,
+      "house_404": 0.0,
+      "house_417": 0.5,
+      "house_424": 0.0,
+      "house_441": 1.0,
+      "house_445": 0.5,
+      "house_45": 1.0,
+      "house_472": 0.0,
+      "house_478": 0.0,
+      "house_494": 1.0,
+      "house_508": 0.5,
+      "house_511": 0.0,
+      "house_527": 0.0,
+      "house_537": 0.5,
+      "house_550": 1.0,
+      "house_553": 1.0,
+      "house_572": 0.0,
+      "house_575": 0.5,
+      "house_589": 0.5,
+      "house_595": 1.0,
+      "house_614": 1.0,
+      "house_626": 1.0,
+      "house_640": 0.0,
+      "house_642": 1.0,
+      "house_665": 0.0,
+      "house_669": 0.0,
+      "house_68": 1.0,
+      "house_688": 0.0,
+      "house_702": 0.0,
+      "house_704": 0.0,
+      "house_71": 0.5,
+      "house_724": 1.0,
+      "house_738": 0.0,
+      "house_749": 1.0,
+      "house_767": 1.0,
+      "house_772": 1.0,
+      "house_788": 0.0,
+      "house_804": 0.5,
+      "house_820": 0.0,
+      "house_831": 0.5,
+      "house_844": 0.5,
+      "house_849": 1.0,
+      "house_867": 1.0,
+      "house_87": 0.0,
+      "house_885": 0.5,
+      "house_890": 1.0,
+      "house_898": 0.0,
+      "house_90": 0.0,
+      "house_916": 0.5,
+      "house_923": 1.0,
+      "house_941": 0.5,
+      "house_942": 0.0,
+      "house_955": 1.0,
+      "house_963": 1.0,
+      "house_982": 0.5,
+      "house_994": 1.0
+    },
+    "oracle_done_count": 68,
+    "oracle_done_rate": 0.544,
+    "avg_successful_episode_length": 87.98529411764706
+  },
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445",
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv",
+  "action_config": {
+    "policy_action_type": "joint_pos_rel",
+    "arm_command_mode": "joint_rel_position",
+    "gripper_command_mode": "joint_position",
+    "arm_action_key": "joint_pos_rel",
+    "gripper_action_key": "joint_pos",
+    "source_name": "pnp_next_to_v2",
+    "source_type": "molmo_raw"
+  },
+  "end_on_success": true
+}

pick_msproc/pick_msproc/shards/shard_07/submission/summary.json

@@ -0,0 +1,172 @@
+{
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07",
+  "benchmark_source": "arg",
+  "benchmark_mode": "official",
+  "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445",
+  "policy_name": "latest",
+  "policy_device": "cuda:0",
+  "camera_names": [
+    "droid_shoulder_light_randomization",
+    "wrist_camera_zed_mini"
+  ],
+  "preview_camera_names": [
+    "exo_camera_1",
+    "wrist_camera"
+  ],
+  "save_video_sensors": [
+    "__none__"
+  ],
+  "obs_camera_name": "droid_shoulder_light_randomization",
+  "obs_wrist_camera_name": "wrist_camera_zed_mini",
+  "action_chunk_size": 8,
+  "end_on_success": true,
+  "num_workers": 1,
+  "task_horizon_steps": 450,
+  "max_episodes": null,
+  "episode_idx": null,
+  "resolved_episode_idx": null,
+  "random_episode": false,
+  "random_seed": 42,
+  "metrics_mean": {
+    "success_rate": 0.544,
+    "success_count": 68.0,
+    "total_episodes": 125.0,
+    "avg_episode_length": 252.608,
+    "oracle_done_rate": 0.544,
+    "success_rate_pct": 54.4,
+    "oracle_rate_pct": 54.4
+  },
+  "stats": {
+    "total_episodes": 125,
+    "success_count": 68,
+    "failure_count": 57,
+    "success_rate": 0.544,
+    "avg_episode_length": 252.608,
+    "min_episode_length": 31,
+    "max_episode_length": 449,
+    "num_houses": 84,
+    "house_success_rates": {
+      "house_1": 1.0,
+      "house_102": 1.0,
+      "house_112": 0.5,
+      "house_128": 1.0,
+      "house_138": 1.0,
+      "house_15": 1.0,
+      "house_155": 1.0,
+      "house_159": 0.0,
+      "house_182": 0.0,
+      "house_192": 0.5,
+      "house_196": 1.0,
+      "house_21": 1.0,
+      "house_215": 0.0,
+      "house_227": 1.0,
+      "house_243": 0.0,
+      "house_248": 1.0,
+      "house_258": 1.0,
+      "house_278": 1.0,
+      "house_286": 1.0,
+      "house_306": 0.0,
+      "house_314": 0.0,
+      "house_32": 0.0,
+      "house_329": 1.0,
+      "house_330": 0.5,
+      "house_351": 0.0,
+      "house_354": 0.5,
+      "house_369": 1.0,
+      "house_375": 0.5,
+      "house_391": 0.5,
+      "house_404": 0.0,
+      "house_417": 0.5,
+      "house_424": 0.0,
+      "house_441": 1.0,
+      "house_445": 0.5,
+      "house_45": 1.0,
+      "house_472": 0.0,
+      "house_478": 0.0,
+      "house_494": 1.0,
+      "house_508": 0.5,
+      "house_511": 0.0,
+      "house_527": 0.0,
+      "house_537": 0.5,
+      "house_550": 1.0,
+      "house_553": 1.0,
+      "house_572": 0.0,
+      "house_575": 0.5,
+      "house_589": 0.5,
+      "house_595": 1.0,
+      "house_614": 1.0,
+      "house_626": 1.0,
+      "house_640": 0.0,
+      "house_642": 1.0,
+      "house_665": 0.0,
+      "house_669": 0.0,
+      "house_68": 1.0,
+      "house_688": 0.0,
+      "house_702": 0.0,
+      "house_704": 0.0,
+      "house_71": 0.5,
+      "house_724": 1.0,
+      "house_738": 0.0,
+      "house_749": 1.0,
+      "house_767": 1.0,
+      "house_772": 1.0,
+      "house_788": 0.0,
+      "house_804": 0.5,
+      "house_820": 0.0,
+      "house_831": 0.5,
+      "house_844": 0.5,
+      "house_849": 1.0,
+      "house_867": 1.0,
+      "house_87": 0.0,
+      "house_885": 0.5,
+      "house_890": 1.0,
+      "house_898": 0.0,
+      "house_90": 0.0,
+      "house_916": 0.5,
+      "house_923": 1.0,
+      "house_941": 0.5,
+      "house_942": 0.0,
+      "house_955": 1.0,
+      "house_963": 1.0,
+      "house_982": 0.5,
+      "house_994": 1.0
+    },
+    "oracle_done_count": 68,
+    "oracle_done_rate": 0.544,
+    "avg_successful_episode_length": 87.98529411764706
+  },
+  "success_count": 68,
+  "total_count": 125,
+  "success_rate": 0.544,
+  "action_config": {
+    "policy_action_type": "joint_pos_rel",
+    "arm_command_mode": "joint_rel_position",
+    "gripper_command_mode": "joint_position",
+    "arm_action_key": "joint_pos_rel",
+    "gripper_action_key": "joint_pos",
+    "source_name": "pnp_next_to_v2",
+    "source_type": "molmo_raw"
+  },
+  "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv",
+  "csv_overall_row": {
+    "policy": "latest",
+    "category": "OVERALL",
+    "successes": 68,
+    "total": 125,
+    "success_rate_pct": 54.4,
+    "ci_95_low_pct": 45.65,
+    "ci_95_high_pct": 62.88,
+    "oracle_successes": 68,
+    "oracle_rate_pct": 54.4,
+    "oracle_ci_95_low_pct": 45.65,
+    "oracle_ci_95_high_pct": 62.88,
+    "jerk_joint_mean": 183.983336,
+    "jerk_joint_std": 109.641441
+  },
+  "preview_video": null,
+  "skip_compose_videos": true,
+  "skip_csv": false,
+  "composed_video_count": 0,
+  "composed_videos": {}
+}

pick_msproc/pick_msproc/submission/FrankaPickDroidMiniBench_json_benchmark_20251231_results.csv

@@ -0,0 +1,24 @@
+# policy_name: latest
+# run_path: outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Bottle,14,55,25.45,15.83,38.37,14,25.45,15.83,38.37,244.053865,93.237272
+latest,Bowl,41,56,73.21,60.34,83.03,41,73.21,60.34,83.03,203.417267,111.172564
+latest,Box,41,55,74.55,61.63,84.17,41,74.55,61.63,84.17,208.222346,115.015186
+latest,Cup,38,56,67.86,54.76,78.6,38,67.86,54.76,78.6,165.378821,93.24736
+latest,Fork,26,56,46.43,33.98,59.34,26,46.43,33.98,59.34,162.624139,99.367869
+latest,Fruit,7,55,12.73,6.38,24.07,7,12.73,6.38,24.07,260.609186,102.869966
+latest,Kettle,35,56,62.5,49.34,74.0,35,62.5,49.34,74.0,195.298126,125.647795
+latest,Knife,25,56,44.64,32.36,57.64,25,44.64,32.36,57.64,188.817267,111.252547
+latest,Ladle,27,55,49.09,36.34,61.97,27,49.09,36.34,61.97,162.80882,108.237446
+latest,Mug,43,56,76.79,64.16,85.87,43,76.79,64.16,85.87,152.484252,99.507377
+latest,Pot,41,56,73.21,60.34,83.03,41,73.21,60.34,83.03,190.899952,121.679277
+latest,Remote Control,34,55,61.82,48.55,73.5,34,61.82,48.55,73.5,154.925136,96.772079
+latest,S/p Shaker,19,56,33.93,22.91,47.06,19,33.93,22.91,47.06,232.918377,100.911861
+latest,Soap Dispenser,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,202.644516,131.426341
+latest,Spatula,21,56,37.5,26.0,50.66,21,37.5,26.0,50.66,151.200522,95.373086
+latest,Spoon,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,171.914845,103.344219
+latest,Spray Bottle,18,56,32.14,21.4,45.24,18,32.14,21.4,45.24,194.996556,94.060216
+latest,Tissue Paper,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,202.600884,126.782425
+latest,OVERALL,502,1000,50.2,47.11,53.29,502,50.2,47.11,53.29,191.357854,112.191979

pick_msproc/pick_msproc/submission/results.csv

@@ -0,0 +1,24 @@
+# policy_name: latest
+# run_path: outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Bottle,14,55,25.45,15.83,38.37,14,25.45,15.83,38.37,244.053865,93.237272
+latest,Bowl,41,56,73.21,60.34,83.03,41,73.21,60.34,83.03,203.417267,111.172564
+latest,Box,41,55,74.55,61.63,84.17,41,74.55,61.63,84.17,208.222346,115.015186
+latest,Cup,38,56,67.86,54.76,78.6,38,67.86,54.76,78.6,165.378821,93.24736
+latest,Fork,26,56,46.43,33.98,59.34,26,46.43,33.98,59.34,162.624139,99.367869
+latest,Fruit,7,55,12.73,6.38,24.07,7,12.73,6.38,24.07,260.609186,102.869966
+latest,Kettle,35,56,62.5,49.34,74.0,35,62.5,49.34,74.0,195.298126,125.647795
+latest,Knife,25,56,44.64,32.36,57.64,25,44.64,32.36,57.64,188.817267,111.252547
+latest,Ladle,27,55,49.09,36.34,61.97,27,49.09,36.34,61.97,162.80882,108.237446
+latest,Mug,43,56,76.79,64.16,85.87,43,76.79,64.16,85.87,152.484252,99.507377
+latest,Pot,41,56,73.21,60.34,83.03,41,73.21,60.34,83.03,190.899952,121.679277
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+    }
+  ],
+  "results_csv": "results.csv",
+  "benchmark_named_csv": "FrankaPickDroidMiniBench_json_benchmark_20251231_results.csv",
+  "episode_results_jsonl": "episode_results.jsonl",
+  "official_csv_overall": null,
+  "raw_episode_results_success_count": 502,
+  "raw_episode_results_oracle_done_count": 502
+}

pick_msproc/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-10k/FrankaPickDroidMiniBench/FrankaPickDroidMiniBench_json_benchmark_20251231 --task-name pick_msproc --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization 

pick_msproc/submission/pick_msproc_results.csv

@@ -0,0 +1,24 @@
+# policy_name: latest
+# run_path: outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards
+# dt: 0.066
+# max_steps: 450
+policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std
+latest,Bottle,14,55,25.45,15.83,38.37,14,25.45,15.83,38.37,244.053865,93.237272
+latest,Bowl,41,56,73.21,60.34,83.03,41,73.21,60.34,83.03,203.417267,111.172564
+latest,Box,41,55,74.55,61.63,84.17,41,74.55,61.63,84.17,208.222346,115.015186
+latest,Cup,38,56,67.86,54.76,78.6,38,67.86,54.76,78.6,165.378821,93.24736
+latest,Fork,26,56,46.43,33.98,59.34,26,46.43,33.98,59.34,162.624139,99.367869
+latest,Fruit,7,55,12.73,6.38,24.07,7,12.73,6.38,24.07,260.609186,102.869966
+latest,Kettle,35,56,62.5,49.34,74.0,35,62.5,49.34,74.0,195.298126,125.647795
+latest,Knife,25,56,44.64,32.36,57.64,25,44.64,32.36,57.64,188.817267,111.252547
+latest,Ladle,27,55,49.09,36.34,61.97,27,49.09,36.34,61.97,162.80882,108.237446
+latest,Mug,43,56,76.79,64.16,85.87,43,76.79,64.16,85.87,152.484252,99.507377
+latest,Pot,41,56,73.21,60.34,83.03,41,73.21,60.34,83.03,190.899952,121.679277
+latest,Remote Control,34,55,61.82,48.55,73.5,34,61.82,48.55,73.5,154.925136,96.772079
+latest,S/p Shaker,19,56,33.93,22.91,47.06,19,33.93,22.91,47.06,232.918377,100.911861
+latest,Soap Dispenser,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,202.644516,131.426341
+latest,Spatula,21,56,37.5,26.0,50.66,21,37.5,26.0,50.66,151.200522,95.373086
+latest,Spoon,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,171.914845,103.344219
+latest,Spray Bottle,18,56,32.14,21.4,45.24,18,32.14,21.4,45.24,194.996556,94.060216
+latest,Tissue Paper,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,202.600884,126.782425
+latest,OVERALL,502,1000,50.2,47.11,53.29,502,50.2,47.11,53.29,191.357854,112.191979

pick_msproc/submission/pick_msproc_submission_manifest.json

@@ -0,0 +1,22 @@
+{
+  "task_name": "pick_msproc",
+  "policy_name": "latest",
+  "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "benchmark_dir": "/home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-10k/FrankaPickDroidMiniBench/FrankaPickDroidMiniBench_json_benchmark_20251231",
+  "benchmark_basename": "FrankaPickDroidMiniBench_json_benchmark_20251231",
+  "gpus": [
+    "0",
+    "1",
+    "2",
+    "3",
+    "4",
+    "5",
+    "6",
+    "7"
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+  "results_csv": "results.csv",
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+  "results_csv": "results.csv",
+  "benchmark_named_csv": "FrankaPickDroidMiniBench_json_benchmark_20251231_results.csv",
+  "episode_results_jsonl": "episode_results.jsonl",
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+  "raw_episode_results_success_count": 502,
+  "raw_episode_results_oracle_done_count": 502
+}

pick_msproc/submission/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-10k/FrankaPickDroidMiniBench/FrankaPickDroidMiniBench_json_benchmark_20251231 --task-name pick_msproc --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization 

pick_randcam/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickHardBench/FrankaPickHardBench_20260206_json_benchmark --task-name pick_randcam --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name randomized_zed2_analogue_1 --obs-wrist-camera-name wrist_camera_zed_mini --camera-names randomized_zed2_analogue_1 wrist_camera_zed_mini --preview-camera-names randomized_zed2_analogue_1 --use-filament 

pnp_color_v2/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_color_v2 --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickandPlaceColorHardBench/FrankaPickandPlaceColorHardBench_20260304_json_benchmark --task-name pnp_color_v2 --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --threads-per-shard 8 --shard-force-install False --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization --use-filament --prewarm-resources --resume-existing 

pnp_next_to_v2/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2 --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickandPlaceNextToHardBench/FrankaPickandPlaceNextToHardBench_20260305_json_benchmark --task-name pnp_next_to_v2 --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --threads-per-shard 8 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization --use-filament --resume-existing 

pnp_v2/run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2 --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickandPlaceHardBench/FrankaPickandPlaceHardBench_20260206_json_benchmark --task-name pnp_v2 --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization --use-filament --resume-existing 

remaining7_summary.json

@@ -0,0 +1,10 @@
+{
+  "checkpoint": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt",
+  "policy_name": "latest",
+  "selected_count": 1,
+  "success_tasks": [
+    "pnp_color_v2"
+  ],
+  "failed_tasks": [],
+  "output_root": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950"
+}

run_command.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+set -euo pipefail
+cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy
+/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_remaining_molmospaces_bench_v2_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950 --start-at pnp_color_v2 --skip-existing --resume-existing --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --threads-per-shard 8